/***********************************************************************
 * Software License Agreement (BSD License)
 *
 * Copyright 2008-2011  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
 * Copyright 2008-2011  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *************************************************************************/

#ifndef RTABMAP_FLANN_DEFINES_H_
#define RTABMAP_FLANN_DEFINES_H_

#include "config.h"

#ifdef FLANN_EXPORT
#undef FLANN_EXPORT
#endif
#ifdef WIN32
/* win32 dll export/import directives */
 #ifdef FLANN_EXPORTS
  #define FLANN_EXPORT __declspec(dllexport)
 #elif defined(FLANN_STATIC)
  #define FLANN_EXPORT
 #else
  #define FLANN_EXPORT __declspec(dllimport)
 #endif
#else
/* unix needs nothing */
 #define FLANN_EXPORT
#endif

#ifdef FLANN_DEPRECATED
#undef FLANN_DEPRECATED
#endif
#ifdef __GNUC__
#define FLANN_DEPRECATED __attribute__ ((deprecated))
#elif defined(_MSC_VER)
#define FLANN_DEPRECATED __declspec(deprecated)
#else
#pragma message("WARNING: You need to implement FLANN_DEPRECATED for this compiler")
#define FLANN_DEPRECATED
#endif

#undef FLANN_PLATFORM_64_BIT
#undef FLANN_PLATFORM_32_BIT
#if __amd64__ || __x86_64__ || _WIN64 || _M_X64
#define FLANN_PLATFORM_64_BIT
#else
#define FLANN_PLATFORM_32_BIT
#endif

#undef FLANN_ARRAY_LEN
#define FLANN_ARRAY_LEN(a) (sizeof(a)/sizeof(a[0]))

//#ifdef __cplusplus
namespace rtflann {
//#endif

/* Nearest neighbour index algorithms */
enum flann_algorithm_t
{
    FLANN_INDEX_LINEAR 			= 0,
    FLANN_INDEX_KDTREE 			= 1,
    FLANN_INDEX_KMEANS 			= 2,
    FLANN_INDEX_COMPOSITE 		= 3,
    FLANN_INDEX_KDTREE_SINGLE 	= 4,
    FLANN_INDEX_HIERARCHICAL 	= 5,
    FLANN_INDEX_LSH 			= 6,
#ifdef FLANN_USE_CUDA
    FLANN_INDEX_KDTREE_CUDA 	= 7,
#endif
    FLANN_INDEX_SAVED 			= 254,
    FLANN_INDEX_AUTOTUNED 		= 255,
};

enum flann_centers_init_t
{
    FLANN_CENTERS_RANDOM = 0,
    FLANN_CENTERS_GONZALES = 1,
    FLANN_CENTERS_KMEANSPP = 2,
    FLANN_CENTERS_GROUPWISE = 3,
};

enum flann_log_level_t
{
    FLANN_LOG_NONE = 0,
    FLANN_LOG_FATAL = 1,
    FLANN_LOG_ERROR = 2,
    FLANN_LOG_WARN = 3,
    FLANN_LOG_INFO = 4,
    FLANN_LOG_DEBUG = 5
};

enum flann_distance_t
{
    FLANN_DIST_EUCLIDEAN 			= 1,
    FLANN_DIST_L2 					= 1,
    FLANN_DIST_MANHATTAN 			= 2,
    FLANN_DIST_L1 					= 2,
    FLANN_DIST_MINKOWSKI 			= 3,
    FLANN_DIST_MAX   				= 4,
    FLANN_DIST_HIST_INTERSECT  		= 5,
    FLANN_DIST_HELLINGER 			= 6,
    FLANN_DIST_CHI_SQUARE		 	= 7,
    FLANN_DIST_KULLBACK_LEIBLER  	= 8,
    FLANN_DIST_HAMMING         		= 9,
    FLANN_DIST_HAMMING_LUT			= 10,
    FLANN_DIST_HAMMING_POPCNT   	= 11,
    FLANN_DIST_L2_SIMPLE	   		= 12,
};

enum flann_datatype_t
{
    FLANN_NONE 		= -1,
    FLANN_INT8 		= 0,
    FLANN_INT16 	= 1,
    FLANN_INT32 	= 2,
    FLANN_INT64 	= 3,
    FLANN_UINT8 	= 4,
    FLANN_UINT16 	= 5,
    FLANN_UINT32 	= 6,
    FLANN_UINT64 	= 7,
    FLANN_FLOAT32 	= 8,
    FLANN_FLOAT64 	= 9
};

enum flann_checks_t {
    FLANN_CHECKS_UNLIMITED = -1,
    FLANN_CHECKS_AUTOTUNED = -2,
};

//#ifdef __cplusplus
}
//#endif


#endif /* RTABMAP_FLANN_DEFINES_H_ */
